CN109166353B - Method and system for detecting guide lane of complex intersection in front of vehicle running - Google Patents
Method and system for detecting guide lane of complex intersection in front of vehicle running Download PDFInfo
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- CN109166353B CN109166353B CN201811059025.3A CN201811059025A CN109166353B CN 109166353 B CN109166353 B CN 109166353B CN 201811059025 A CN201811059025 A CN 201811059025A CN 109166353 B CN109166353 B CN 109166353B
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Abstract
The invention discloses a method and a system for detecting a guide lane of a complex intersection in front of vehicle driving, wherein the detection method comprises the following steps: s1: detecting whether a target vehicle enters a preset monitoring area of a front preset complex intersection or not; s2: if a target vehicle enters the preset monitoring area, acquiring video image information including the target vehicle and a driving lane in the driving direction of the target vehicle in real time, matching the video image information with a lane model of the preset monitoring area established in advance, and determining the driving lane of the target vehicle in the lane model and a guide lane corresponding to the driving lane; s3: and superposing the target vehicle acquired in real time to a driving lane of the lane model to generate a real-time lane model video of the target vehicle, and outputting the real-time lane model video to a vehicle-mounted display terminal for displaying. The invention solves the problems of emergency lane change and illegal lane occupation of vehicles at complex road junctions and reduces traffic jam.
Description
Technical Field
The invention relates to the technical field of vehicle detection, in particular to a method and a system for detecting a guide lane of a complex intersection in front of a vehicle.
Background
When a vehicle runs to a crossing, a driver generally selects a guide lane by observing with eyes, but when the sight distance of the driver is limited or the guide lane is blocked by other vehicles and cannot be seen clearly, the driver often selects the guide lane by experience. In general, a driver selects a guidance lane according to the setting conditions of the guidance lanes at a general intersection (a left-turn lane is arranged at the leftmost side, a right-turn lane is arranged at the rightmost side, and a middle lane is a straight lane), if the driver needs to drive on the left lane in advance when turning left, on the right lane when turning right, and on the middle lane when driving straight, but the guidance lanes at the intersection are not the same, the setting of the guidance lanes at some complex intersections is different from that at the general intersection, the left-turn lane is not arranged at the leftmost side or the right-turn lane is not arranged at the rightmost side, and when the driver still selects the lane in advance by experience, the following problems occur: firstly, when the vehicle approaches to an intersection, the vehicle is found not to be in a correct guide lane and then is emergently changed or stops to wait for changing the lane, so that the vehicle is easy to jam and even has traffic accidents; and secondly, the driver cannot find the error of the guide lane in time, and directly turns or directly runs in the wrong guide lane to further cause violation deduction.
The application of the vehicle-mounted navigation system can well guide a driver to drive to a correct planned path at a complex intersection, but because the vehicle-mounted navigation system needs to input a destination in advance when in use, the vehicle-mounted navigation system needs to be started in real time in the vehicle driving process, and energy is wasted; the data of the vehicle-mounted navigation system is updated slowly, so that the acquired navigation information may not be the latest road information, and the misguidance to a driver is easy; in addition, the existing vehicle navigation system usually obtains the position information of the vehicle through GPS positioning, but cannot accurately obtain the specific driving lane where the vehicle is located and the guiding lane corresponding to the front of the driving lane, and when the driving road of the vehicle is more and the guiding lane at the front intersection is complex, it is difficult for the driver to select a lane in a certain driving direction in advance before the complex intersection.
Disclosure of Invention
The invention aims to provide a method and a system for detecting a guide lane of a complex intersection in front of a vehicle, which are used for a driver to acquire guide lane information of the complex intersection in front of the vehicle in advance.
In a first aspect, the invention provides a method for detecting a guide lane of a complex intersection in front of a vehicle, comprising the following steps:
s1: detecting whether a target vehicle enters a preset monitoring area of a front preset complex intersection or not, wherein the preset monitoring area comprises a guide lane in which the target vehicle enters the direction of the preset complex intersection and a driving lane in which the entrance direction of the guide lane has a certain preset distance range;
s2: if a target vehicle enters the preset monitoring area, acquiring video image information including the target vehicle and a driving lane in the driving direction of the target vehicle in real time, matching the video image information with a lane model of the preset monitoring area established in advance, and determining the driving lane of the target vehicle in the lane model and a guide lane corresponding to the driving lane, wherein the guide lane in the lane model comprises a guide arrow;
s3: and superposing the target vehicle acquired in real time to a driving lane of the lane model to generate a real-time lane model video of the target vehicle, and outputting the real-time lane model video to a vehicle-mounted display terminal for displaying.
Further, step S1 is preceded by: the method for establishing the lane model comprises the following steps of:
acquiring a guide lane image of a single driving direction of a preset complex intersection and a driving lane image of the guide lane in a certain preset distance range in the entrance direction of the guide lane by a camera;
and establishing a lane model of the preset complex intersection according to the lane lines in the guide lane image and the driving lane image, the guide arrows in the guide lane image and the pre-stored guide arrow annotation information.
Further, the detecting whether the target vehicle enters the preset monitoring area of the front preset complex intersection comprises: the method comprises the steps that a vehicle detection unit arranged at a certain preset distance away from the entrance direction of a guide lane of a preset complex intersection shoots a vehicle license number entering a preset monitoring area, the shot vehicle license number is matched with license number information stored in the vehicle detection unit, and if the matching is successful, a target vehicle is determined to enter the preset monitoring area.
Further, still include: and the vehicle-mounted display terminal carries out voice prompt on the guide lane information corresponding to the front of the lane where the target vehicle is located in real time.
Furthermore, a corresponding text annotation is arranged on a guide arrow in the guide lane in the lane model.
Further, the step S2 specifically includes:
s201: if a target vehicle drives into the preset monitoring area, acquiring video image information of the coming direction of the target vehicle through front shooting of video acquisition equipment;
s202: preprocessing the video image information, acquiring and determining a target vehicle and a lane where the target vehicle is located in the video image information by identifying the number of the vehicle license plate, and filtering and removing other vehicles or obstacles in the video image information to obtain video image information comprising the target vehicle and a large number of lane lines;
s203: calculating the distance between a target vehicle in the video image information and the preset complex intersection, determining the driving direction coordinate of the target vehicle in the video image information, matching a lane line in the video image information with a lane line at a corresponding coordinate position in a lane model of the preset monitoring area according to the determined driving direction coordinate of the target vehicle, determining a driving lane of the target vehicle in the lane model, and determining a guide lane corresponding to the driving lane where the target vehicle is located according to the corresponding relation between the driving lane and the guide lane which is preset in the lane model.
In a second aspect, the present invention further provides a system for detecting a guidance lane of a complex intersection ahead of a vehicle, including:
the vehicle detection unit is arranged at a position with a certain preset distance from the entrance direction of a guide lane of the preset complex intersection and used for detecting whether a target vehicle enters a preset monitoring area of the front preset complex intersection or not;
the video acquisition unit is arranged at a preset complex intersection facing the incoming vehicle direction, is in wireless communication connection with the vehicle detection unit, and is used for receiving a signal that a target vehicle detected by the vehicle detection unit enters a preset monitoring area and acquiring video image information including the target vehicle and a driving lane in the driving direction of the target vehicle in real time;
the video processing unit is used for matching and overlapping the video image information acquired by the video acquisition unit with a pre-established lane model to generate a lane model;
the vehicle-mounted display terminal is used for receiving and displaying the real-time lane model video generated by the video processing unit;
the video processing unit includes:
the receiving module is used for receiving the video image information acquired by the video acquisition unit;
the matching module is used for matching the received video image information with a pre-established lane model of the preset monitoring area, and determining a driving lane of the target vehicle in the lane model and a guide lane corresponding to the driving lane;
the superposition module is used for superposing the target vehicle acquired in real time to a driving lane of the lane model to generate a real-time lane model video of the target vehicle;
the storage module is used for storing a pre-established lane model of the preset monitoring area;
and the sending module is used for sending the generated real-time lane model video to the vehicle-mounted display terminal.
Further, the system also comprises a model establishing unit used for establishing a lane model.
Further, the vehicle-mounted display terminal comprises a voice prompt module.
The invention has the following beneficial effects: firstly, the method for detecting the guide lane of the complex intersection in front of the vehicle in the invention detects and displays the lane of the target vehicle only when the target vehicle enters the preset monitoring area of the preset complex intersection, thus the energy waste is less and the use efficiency is high; thirdly, the latest guiding lane setting condition of the preset complex intersection can be accurately obtained before the target vehicle enters the complex intersection for a certain distance, and the intersection guiding lane information obtained by the method is more accurate compared with that obtained by a vehicle-mounted navigation system with slower system updating; in addition, the invention can display the lane of the target vehicle running in the preset detection area in real time and the corresponding guide lane condition in front of the lane in real time through the vehicle-mounted display terminal, can effectively help the driver to check the guide lane information in front of the lane where the vehicle is located in advance, and can change the lane in advance according to the requirement of the driver, thereby effectively reducing the accident risk and the illegal lane change problem caused by emergency lane change, and simultaneously reducing traffic jam.
Drawings
FIG. 1 is a flow chart of a method of detecting a guide lane at a complex intersection ahead of a vehicle in accordance with the present invention;
FIG. 2 is a schematic display diagram of a vehicle-mounted display terminal of a target vehicle according to an embodiment of the present invention;
FIG. 3 is a block diagram of the complex intersection guidance lane detection system in front of the vehicle.
Detailed Description
In order to facilitate the understanding of the technical solutions of the present invention for those skilled in the art, the technical solutions of the present invention will be further described with reference to the drawings attached to the specification.
As shown in fig. 1, the embodiment discloses a method for detecting a guidance lane at a complex intersection in front of a vehicle, which includes:
s1: detecting whether a target vehicle enters a preset monitoring area of a preset complex intersection in front or not, wherein the preset monitoring area comprises a guide lane in which the target vehicle enters the preset complex intersection and a driving lane in which the entrance direction of the guide lane has a certain preset distance range.
In the embodiment of the invention, the preset complex intersection is the intersection which is different from the common arrangement for the guide lane, namely the arrangement condition of the guide lane of the preset complex intersection is that the left-turn lane is not arranged at the leftmost side or the right-turn lane is not arranged at the rightmost side, and a plurality of intersections are provided and can be the preset complex intersection of the embodiment of the invention; the preset monitoring area of the preset complex intersection is determined according to the number of the driving-in ports of the preset complex intersection in different driving directions, if a general crossroad has the driving-in ports in four driving directions, the preset complex intersection is provided with four preset monitoring areas, and each preset monitoring area comprises a guide lane corresponding to the driving direction and a driving lane which is away from the entrance direction of the guide lane by a certain preset distance range, such as: the method comprises the steps that a guide lane in the same driving direction and a driving lane in the entrance direction 300m of the guide lane are one of preset monitoring areas, and a vehicle detection unit is arranged in the entrance direction 300 of the guide lane.
S2: if the target vehicle enters the preset monitoring area, video image information including the target vehicle and a driving lane in the driving direction of the target vehicle is acquired in real time, the video image information is matched with a lane model of the preset monitoring area, the driving lane of the target vehicle in the lane model and a guide lane corresponding to the driving lane are determined, and the guide lane in the lane model comprises guide arrows.
In the embodiment of the invention, when a vehicle detection unit shoots that a target vehicle enters a preset monitoring area, the vehicle detection unit wirelessly transmits a license plate number of the target vehicle and a target vehicle image obtained by shooting to a video acquisition unit, the video acquisition unit can be arranged at a preset complex intersection, a camera of the video acquisition unit faces the target vehicle, in order to ensure real-time monitoring of a driving lane of the target vehicle, the shooting range of the camera of the video acquisition unit can completely cover the preset monitoring area, when the video acquisition unit receives a target vehicle signal of the vehicle detection unit, the camera is started to acquire video image information in the direction of the target vehicle in real time, the video image information comprises the target vehicle and the driving lane in the driving direction, and the driving lane comprises lane lines.
In the embodiment of the invention, because the traffic marks of the actual road surface driving lane and the guide lane in the preset monitoring area of the preset complex intersection cannot be changed for a long time, the lane model of the preset monitoring area can be pre-established and stored for long-term use, when the actual road surface guide lane or the driving lane in the preset monitoring area of the preset complex intersection is changed, the model establishing unit can be manually controlled and operated to reestablish a new lane model for storage, and the established lane model can be automatically updated according to a preset time period (such as fixed time every day) to ensure that the lane model is the latest model of the preset complex intersection, and the establishment method of the lane model comprises the following steps: acquiring a guide lane image of a single driving direction of a preset complex intersection and a driving lane image of the guide lane in a certain preset distance range in the entrance direction of the guide lane by a camera; the model establishing unit establishes a lane model of the preset complex intersection according to the lane lines in the guide lane image and the driving lane image, the guide arrow in the guide lane image and the pre-stored guide arrow annotation information; the lane model comprises a plurality of driving lanes and corresponding guide lanes in front of the driving lanes, the guide lanes comprise a left-turn lane, a right-turn lane and a straight lane, corresponding guide arrows are arranged in the left-turn lane, the right-turn lane and the straight lane, and preferably, the guide arrows in the lane model are also provided with text annotations, so that a driver can be further assisted in knowing the arrangement meaning of the front guide lanes.
S3: and superposing the target vehicle acquired in real time to a driving lane of the lane model to generate a real-time lane model video of the target vehicle, and outputting the real-time lane model video to a vehicle-mounted display terminal for displaying.
In the embodiment of the invention, the position of the target vehicle in the video image information acquired in real time changes in real time, so that the position coordinates of the driving direction and the driving lane of the target vehicle in the video image information are acquired in real time, the target vehicle can be accurately matched to the driving lane at the correct position in the lane model when the video image information is matched with the lane model, the target vehicle is superposed into the lane model by a superposition method, and the real-time lane model video superposed with the target vehicle is output, so that the vehicle-mounted display terminal can more truly and accurately display the lane occupation situation of the target vehicle.
As shown in fig. 2, which is a schematic display diagram of a vehicle-mounted display terminal of a target vehicle at a certain moment in the embodiment of the present invention, it can be known from the diagram that a one-way driving lane where the target vehicle is currently located is a four-lane, a left-start first lane and a left-start third lane of a preset complex intersection in front are straight lanes, a left-start second lane is a left-turn lane, a right-start first lane is a right-turn lane, a driving lane where the target vehicle is currently located is a left-start second lane, and a guiding lane of the preset complex intersection in front corresponding to the left-start second lane is a left-turn lane, and a driver can select a lane in advance before the target vehicle reaches the preset complex intersection according to a corresponding condition between the driving lane and the guiding lane displayed by the vehicle-mounted display terminal to ensure that the vehicle can safely and smoothly pass through the preset complex intersection.
According to the technical scheme, the latest guiding lane setting condition of the complex intersection can be accurately acquired before the target vehicle enters the complex intersection for a certain distance, the lane where the target vehicle runs in real time in the preset detection area and the corresponding guiding lane condition in front of the lane can be displayed through the vehicle-mounted display terminal, the driver is effectively helped to check the guiding lane information in front of the lane where the vehicle is located in advance, the lane is changed in advance according to the requirement of the driver, and the accident risk and the illegal lane change problem caused by emergency lane change are effectively reduced.
Preferably, in the embodiment of the present invention, the vehicle-mounted display terminal further has a voice prompt function, and is capable of performing a voice prompt on the guidance lane information corresponding to the front of the lane where the target vehicle is located in real time, such as a voice prompt of "the front of the lane where your vehicle is currently located is a left-turn lane", although the content of the voice prompt is not limited thereto.
Further, the method for detecting a complicated intersection leading lane in front of a vehicle in the technical solution of the present invention includes, in the above embodiment, the step S2:
s201: if a target vehicle drives into the preset monitoring area, acquiring video image information of the coming direction of the target vehicle through front shooting of video acquisition equipment;
s202: preprocessing the video image information, acquiring and determining a target vehicle and a lane where the target vehicle is located in the video image information by identifying the number of the vehicle license plate, and filtering and removing other vehicles or obstacles in the video image information to obtain video image information comprising the target vehicle and a large number of lane lines;
s203: calculating the distance between a target vehicle in the video image information and the preset complex intersection, determining the driving direction coordinate of the target vehicle in the video image information, matching a lane line in the video image information with a lane line at a corresponding coordinate position in a lane model of the preset monitoring area according to the determined driving direction coordinate of the target vehicle, determining a driving lane of the target vehicle in the lane model, and determining a guide lane corresponding to the driving lane where the target vehicle is located according to the corresponding relation between the driving lane and the guide lane which is preset in the lane model.
The present invention also provides a system for detecting a guidance lane at a complex intersection ahead of a vehicle, as shown in fig. 3, the system for detecting a guidance lane comprises:
a vehicle detection unit 1, which is arranged at a certain preset distance from the entrance direction of a guide lane of a preset complex intersection, the vehicle detection unit comprises a camera, a memory, a microprocessor and a wireless communication module, wherein the memory stores identification information of a plurality of target vehicles, the identification information of the vehicles in the embodiment of the invention at least comprises vehicle license plate numbers, the camera of the vehicle detection unit 1 shoots the vehicle license plate numbers entering the preset monitoring area and sends the vehicle license plate numbers to the microprocessor module for processing, the microprocessor module matches the shot vehicle license plate numbers with the license plate numbers of the target vehicles in the memory to judge whether the target vehicles enter the preset monitoring area or not, when a target vehicle enters a preset monitoring area, the identification information of the target vehicle is sent to the corresponding receiving equipment through the wireless communication module.
The video acquisition unit 2 is preferably a high-definition acquisition camera device, and the high-definition acquisition camera device is in wireless communication connection with the vehicle detection unit and is used for receiving a signal of a target vehicle, detected by the vehicle detection unit 1, entering a preset monitoring area and acquiring video image information including the target vehicle and a driving lane in the driving direction of the target vehicle in real time.
It should be noted that in the embodiment of the present invention, the vehicle detection unit 1 and the video capture unit 2 at the same preset complex intersection are uniquely matched and corresponding to each other, the memory of the vehicle detection unit 1 stores the device ID information of the video capture unit 2 at the same preset complex intersection, and the detection information signal acquired by the vehicle detection unit 1 is only sent to the video capture unit 2 corresponding to the preset complex intersection.
The video processing unit 3 is used for matching and overlapping the video image information acquired by the video acquisition unit with a pre-established lane model to generate a lane model; the video processing unit 3 includes: a receiving module 301, configured to receive video image information acquired by the video acquisition unit 2; the matching module 302 is configured to match the received video image information with a pre-established lane model of the preset monitoring area, and determine a driving lane of the target vehicle in the lane model and a guiding lane corresponding to the driving lane; the superposition module 303 is configured to superpose the target vehicle acquired in real time to the driving lane of the lane model to generate a real-time lane model video of the target vehicle; the storage module 304 is configured to store a pre-established lane model of the preset monitoring area; and a sending module 305, configured to send the generated real-time lane model video to the vehicle-mounted display terminal.
The vehicle-mounted display terminal 4 is installed on a target vehicle and used for receiving and displaying the real-time lane model video generated by the video processing unit, the storage module 304 of the video processing unit 3 also stores vehicle-mounted display terminal identification information of the target vehicle, the video processing unit 3 can inquire and acquire corresponding vehicle-mounted display terminal identification information according to license plate information of the target vehicle and send the generated real-time lane model video to the vehicle-mounted display terminal 4 with a corresponding identification, and a wireless receiving module is arranged in the vehicle-mounted display terminal 4 and can receive video data sent by the video processing unit 3.
In the technical scheme, when the vehicle detection unit 1 detects that a target vehicle enters a preset monitoring area of a front preset complex intersection, identification information such as a license plate number of the target vehicle is sent to the video acquisition unit 2, the video acquisition unit 2 acquires video image information including the target vehicle and a driving lane in the driving direction of the target vehicle, and sends the video image information to the video processing unit 3 for sequential matching and overlapping, so that a real-time lane model video of the target vehicle is generated and sent to a vehicle-mounted display terminal of the target vehicle for display prompting.
In the embodiment of the present invention, the system further includes a model establishing unit 5, configured to establish a lane model.
In order to further facilitate the driver to know the guide lane corresponding to the driving lane of the current target vehicle, the vehicle-mounted display terminal in the embodiment of the invention further comprises a voice prompt module for performing real-time voice broadcast on the driving lane of the target vehicle.
Technical solution of the invention is described above with reference to the accompanying drawings, it is obvious that the specific implementation of the invention is not limited by the above-mentioned manner, and it is within the scope of the invention to adopt various insubstantial modifications of the inventive method concept and technical solution, or to apply the inventive concept and technical solution to other occasions without modification.
Claims (9)
1. A method for detecting a guide lane of a complex intersection in front of a vehicle in driving is characterized by comprising the following steps:
s1: detecting whether a target vehicle enters a preset monitoring area of a front preset complex intersection or not, wherein the preset monitoring area comprises a guide lane in which the target vehicle enters the direction of the preset complex intersection and a driving lane in which the entrance direction of the guide lane has a certain preset distance range;
s2: if a target vehicle enters the preset monitoring area, acquiring video image information including the target vehicle and a driving lane in the driving direction of the target vehicle in real time, matching the video image information with a lane model of the preset monitoring area established in advance, and determining the driving lane of the target vehicle in the lane model and a guide lane corresponding to the driving lane, wherein the guide lane in the lane model comprises a guide arrow;
s3: and superposing the target vehicle acquired in real time to a driving lane of the lane model to generate a real-time lane model video of the target vehicle, and outputting the real-time lane model video to a vehicle-mounted display terminal for displaying.
2. The method for detecting a complicated intersection leading lane in front of a vehicle according to claim 1, wherein the step S1 is preceded by the step of: the method for establishing the lane model comprises the following steps of:
acquiring a guide lane image of a single driving direction of a preset complex intersection and a driving lane image of the guide lane in a certain preset distance range in the entrance direction of the guide lane by a camera;
and establishing a lane model of the preset complex intersection according to the lane lines in the guide lane image and the driving lane image, the guide arrows in the guide lane image and the pre-stored guide arrow annotation information.
3. The method for detecting the guidance lane of the complex intersection ahead of the vehicle according to claim 1, wherein the detecting whether the target vehicle enters the preset monitoring area of the preset complex intersection ahead comprises: the method comprises the steps that a vehicle detection unit arranged at a certain preset distance away from the entrance direction of a guide lane of a preset complex intersection shoots a vehicle license number entering a preset monitoring area, the shot vehicle license number is matched with license number information stored in the vehicle detection unit, and if the matching is successful, a target vehicle is determined to enter the preset monitoring area.
4. The method of detecting a complex intersection leading lane in front of a vehicle traveling according to claim 1, further comprising: and the vehicle-mounted display terminal carries out voice prompt on the guide lane information corresponding to the front of the lane where the target vehicle is located in real time.
5. The method according to claim 2, wherein the corresponding text annotations are provided on the guidance arrows in the guidance lane in the lane model.
6. The method for detecting a complicated intersection leading lane in front of a vehicle according to claim 1, wherein the step S2 specifically comprises:
s201: if a target vehicle drives into the preset monitoring area, acquiring video image information of the coming direction of the target vehicle through front shooting of video acquisition equipment;
s202: preprocessing the video image information, acquiring and determining a target vehicle and a lane where the target vehicle is located in the video image information by identifying the number of the vehicle license plate, and filtering and removing other vehicles or obstacles in the video image information to obtain video image information comprising the target vehicle and a large number of lane lines;
s203: calculating the distance between a target vehicle in the video image information and the preset complex intersection, determining the driving direction coordinate of the target vehicle in the video image information, matching a lane line in the video image information with a lane line at a corresponding coordinate position in a lane model of the preset monitoring area according to the determined driving direction coordinate of the target vehicle, determining a driving lane of the target vehicle in the lane model, and determining a guide lane corresponding to the driving lane where the target vehicle is located according to the corresponding relation between the driving lane and the guide lane which is preset in the lane model.
7. A vehicle goes preceding complicated crossing direction lane detection system which characterized in that includes:
the vehicle detection unit is arranged at a position with a certain preset distance from the entrance direction of a guide lane of the preset complex intersection and used for detecting whether a target vehicle enters a preset monitoring area of the front preset complex intersection or not;
the video acquisition unit is arranged at a preset complex intersection facing the incoming vehicle direction, is in wireless communication connection with the vehicle detection unit, and is used for receiving a signal that a target vehicle detected by the vehicle detection unit enters a preset monitoring area and acquiring video image information including the target vehicle and a driving lane in the driving direction of the target vehicle in real time;
the video processing unit is used for matching and overlapping the video image information acquired by the video acquisition unit with a pre-established lane model to generate a real-time lane model video;
the vehicle-mounted display terminal is used for receiving and displaying the real-time lane model video generated by the video processing unit;
the video processing unit includes:
the receiving module is used for receiving the video image information acquired by the video acquisition unit;
the matching module is used for matching the received video image information with a pre-established lane model of the preset monitoring area, and determining a driving lane of the target vehicle in the lane model and a guide lane corresponding to the driving lane;
the superposition module is used for superposing the target vehicle acquired in real time to a driving lane of the lane model to generate a real-time lane model video of the target vehicle;
the storage module is used for storing a pre-established lane model of the preset monitoring area;
and the sending module is used for sending the generated real-time lane model video to the vehicle-mounted display terminal.
8. The system according to claim 7, further comprising a model building unit for building a lane model.
9. The system according to claim 7, wherein the vehicle-mounted display terminal comprises a voice prompt module.
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| CN109813327B (en) * | 2019-02-01 | 2022-06-07 | 安徽中科美络信息技术有限公司 | Vehicle running track loss compensation method |
| CN110909699A (en) * | 2019-11-28 | 2020-03-24 | 北京以萨技术股份有限公司 | Video vehicle non-guide driving detection method and device and readable storage medium |
| CN113032500B (en) * | 2019-12-25 | 2023-10-17 | 沈阳美行科技股份有限公司 | Vehicle positioning method, device, computer equipment and storage medium |
| CN113033267B (en) * | 2019-12-25 | 2023-07-21 | 沈阳美行科技股份有限公司 | Vehicle positioning method, device, computer equipment and storage medium |
| CN111854766B (en) * | 2020-01-13 | 2022-05-27 | 北京嘀嘀无限科技发展有限公司 | Road information determination method and device, electronic equipment and storage medium |
| CN112365741B (en) * | 2020-10-23 | 2021-09-28 | 淮阴工学院 | Safety early warning method and system based on multilane vehicle distance detection |
| CN113602263A (en) * | 2021-08-26 | 2021-11-05 | 中国第一汽车股份有限公司 | Vehicle avoidance method and device, vehicle-mounted equipment and storage medium |
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